
/**
  ******************************************************************************
  * Copyright 2021 The Microbee Authors. All Rights Reserved.
  * 
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  * 
  * http://www.apache.org/licenses/LICENSE-2.0
  * 
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
  * 
  * @file       uitc_vehicle_hearbeat.h
  * @author     baiyang
  * @date       2022-11-10
  ******************************************************************************
  */

#pragma once

#ifdef __cplusplus
extern "C"{
#endif

/*----------------------------------include-----------------------------------*/
#include <stdint.h>
#include <stdbool.h>

#include <uITC/uITC.h>
/*-----------------------------------macro------------------------------------*/
ITC_DECLARE(vehicle_hearbeat);
/*----------------------------------typedef-----------------------------------*/
typedef struct
{
    uint64_t timestamp_us;

    uint32_t custom_mode; /*<  A bitfield for use for autopilot-specific flags*/
    uint8_t type; /*<  Vehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.*/
    uint8_t autopilot; /*<  Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.*/
    uint8_t base_mode; /*<  System mode bitmap.*/
    uint8_t system_status; /*<  System status flag.*/
} uitc_vehicle_hearbeat;
/*----------------------------------variable----------------------------------*/

/*-------------------------------------os-------------------------------------*/

/*----------------------------------function----------------------------------*/

/*------------------------------------test------------------------------------*/

#ifdef __cplusplus
}
#endif



